CN207953918U - A kind of dual coding type it is hollow walk the intelligent modularized joint of wire type - Google Patents
A kind of dual coding type it is hollow walk the intelligent modularized joint of wire type Download PDFInfo
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- CN207953918U CN207953918U CN201820265428.2U CN201820265428U CN207953918U CN 207953918 U CN207953918 U CN 207953918U CN 201820265428 U CN201820265428 U CN 201820265428U CN 207953918 U CN207953918 U CN 207953918U
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Abstract
The utility model disclose a kind of dual coding type it is hollow walk the intelligent modularized joint of wire type, including left end shell, intermediate case, right end shell, left end cap, driver, brake, incremental encoder code-disc, rotor harmonic wave axis, No.1 angular contact bearing, output flange, active plate, incremental encoder, two bugle contact bearings, it is hollow walk spool, connecting flange, hollow rimless torque motor, harmonic speed reducer, absolute value encoder.The utility model joint is by the way of Dual-encoder, and respectively by incremental encoder and absolute value encoder come measurement motor angle and connecting rod (mechanical arm) angle, the code-disc is connected by screw on rotor axial fastenings；The utility model joint designs are more projective table type shells, and structure design is compact, and hollow cabling mode reduces the complexity that cable summarizes, and influence when avoiding joint motions to cable has very high flexibility, the assembling that modularized design can be more convenient.
Description
Technical field
The utility model be applied to modular mechanical arm technical field, specifically a kind of dual coding type it is hollow walk wire type intelligence
It can modularized joint.
Background technology
Currently, mechanical arm used in robot is all traditional integrated machine arm both at home and abroad, not only volume is huger
Greatly, and when the damage of certain parts, the assembly and disassembly of mechanical arm are also more troublesome, while the outside of mechanical arm is walked
Line mode not only influences beauty, but also often results in the winding of cable.Thus either in service industry or industrial trade
Robot, is nowadays increasingly stringenter the requirement of mechanical arm, on the one hand needs enough flexibilities and its reliability, another
Aspect assembles and needs safe and convenient, repeats assembly and disassembly, compact-sized, in addition, in some special occasions, is applied
Mechanical arm also have suitable strict requirements to the mode of cabling, prevent external cabling from influencing beautiful and causing twining for cable
Around for this technical problem, having developed the mode of hollow cabling both at home and abroad, a kind of this mode is external cabling and cable winds
Problem provides a kind of solution.Patent document " a kind of hollow intelligent modularized joint CN104416579A " is related to hollow
Although modularized joint is using by flange and cage connection, compact-sized, connection is reliable, and whole weight is larger, system
The complex structural designs of dynamic device, the torque needed by gear drive is larger, and the mode of disassembling and assembling machine is complex, exports method
Orchid is no and harmonic speed reducer is directly connected to, therefore generates drive gap, and brake apparatus is biased with incremental encoder, passes through tooth
Wheel transmission causes gap larger, and in addition to this, which is equipped with Hall sensor component, and the wave producer of harmonic wave does not have
There is axially position so that total is unstable in the running.
Utility model content
In view of the deficiencies of the prior art, technical problem to be solved in the utility model is：A kind of dual coding is provided
Type it is hollow walk the intelligent modularized joint of wire type.The dual coding type it is hollow walk the intelligent modularized joint of wire type solve outside and walk
The problems such as line confusion, easy kinking, quality and volume are greatly, the degree of modularity is not high, is not required to custom hardware, effectively reduces into
This.
The utility model solve the technical problem the technical solution adopted is that：A kind of dual coding type it is hollow walk wire type intelligence
Can modularized joint, a kind of dual coding type it is hollow walk the intelligent modularized joint of wire type, which is characterized in that including left end shell,
Intermediate case, right end shell, left end cap, driver, brake, incremental encoder code-disc, rotor harmonic wave axis, No.1 angular contact
Bearing, output flange, active plate, incremental encoder, two bugle contact bearings, it is hollow walk spool, connecting flange, hollow
Rimless torque motor, harmonic speed reducer, absolute value encoder；Hollow rimless torque motor include rotor axial direction fastener,
Motor stator axial fastener, motor stator, rotor, Hall sensor, harmonic speed reducer include wave producer, flexbile gear,
Firm gear, absolute value encoder include absolute value encoder stator, absolute value encoder rotor；
The left end cap, left end shell, intermediate case, right end shell, output flange one cavity of composition, left end shell,
Three sections of intermediate case, right end shell shells are fastened and connected successively by screw；Left end shell is internally provided with the first company
Fishplate bar, intermediate case are internally provided with the first annular boss and the second annular boss, and right end shell is internally provided with second
Connecting plate, the first connecting plate, the first annular boss, the second annular boss, the second connecting plate are set gradually from left to right, thereon
It is provided with connecting hole, the second annular boss is equipped with the second annular boss array hole；
The left end of rotor axial direction fastener is arranged in the centre of the first connecting plate, and by two bugle contact bearings with
First connecting plate connects；Driver is fixedly mounted on the left side of the first connecting plate, and brake setting is on the first connecting plate right side
It is fastenedly connected on the rotor axial direction fastener of side and with the first connecting plate；Rotor axial direction fastener on the right side of brake
On be provided with incremental encoder code-disc；
The active plate edge is connect by screw with left end housing interior side-wall；The incremental encoder includes increasing
Amount formula encoder code disc and incremental encoder brush, it is axially tight that incremental encoder code-disc by jackscrew is connected to rotor
On firmware, incremental encoder brush is connected by bolt with active plate；
The both ends of rotor harmonic wave axis are respectively arranged in the first annular boss and the second annular boss, and rotor is sleeved on
It is connect with rotor axial direction fastener in the left end of the left end of rotor harmonic wave axis, rotor, motor stator is sleeved on motor
The periphery of rotor, motor stator axial fastener are mounted on the left side of the first annular boss and consolidate the left end of motor stator
It is scheduled in the first annular boss；The right end of motor stator is set in the second annular boss array hole of the second annular boss；Suddenly
You are installed on motor stator sensor；It is provided with No.1 angular contact in gap between second annular boss and rotor harmonic wave axis
Bearing；The right end of rotor harmonic wave axis is set with wave producer, and the periphery of wave producer is provided with three bugle contact bearings, the second ring
It is provided with flexbile gear on the right side of shape boss, the right side of flexbile gear is arranged firm gear, and the inside of flexbile gear and firm gear is sleeved on three bugles
On contact bearing, the right end of firm gear and the left side of connecting flange connect；The middle part of connecting flange is arranged inside the second connecting plate,
Absolute value encoder stator, absolute value encoder rotor are provided in the right side of the second connecting plate；The right side of connecting flange with it is defeated
Go out flanged joint；Rotor axial direction fastener, rotor harmonic wave axis are hollow structure inside connecting flange, it is hollow walk spool set
It is placed in one in hollow structure.
Compared with prior art, the utility model has the beneficial effects that：The utility model modularized joint structure design is tight
It gathers, hollow cabling mode reduces the complexity that cable summarizes, and influence when avoiding joint motions to cable has very high spirit
Activity, the assembling that modularized design can be more convenient.
The substantive distinguishing features outstanding of the utility model are：
1) the second annular boss combining movement plate in the utility model joint plays the role of axially position to motor, simultaneously
Positioning action is also played to harmonic speed reducer, the array hole on second annular boss can be square while playing the role of positioning
The flexbile gear of fixed harmonic speed reducer is just installed.
2) incremental encoder is bolt-connected on active plate, and active plate is connected by screw
In intermediate case, the shell is stamped with left end to be located by connecting, and left end, which is stamped annular boss, can form axially position, the system
Dynamic device is mounted on by bolt on the first connecting plate, and the leftmost side of rotor axial fastenings, this reduces brake apparatus
Space；The Hall sensor is mounted on the middle-end of motor stator, improves the rate of commutation, improves the standard of current feedback
True property, the rotor harmonic wave axis and rotor axial fastenings are connected by screw, and the flexbile gear of harmonic speed reducer passes through screw thread
Connection carries out axial and circumferential positioning with the second annular boss.
3) cabling mode：The cable of absolute value encoder brush passes through again from the cable hole on the second connecting plate of outer casing inner wall
The cable hole on the second annular boss is crossed, the inner wall along shell connects by the cable hole on the first annular boss and the first connecting plate
It is connected on driver, the cable of motor stator is connected by the cable hole on the first annular boss of outer casing inner wall using first
Cable hole on plate is connected on driver, the cable in a upper joint by it is hollow walk spool be connected on driver, all groups
It is connected by this concatenated form at the cable of the modularized joint of mechanical arm, the cable of the last one modularized joint
It is connected on peripheral control unit；
4) the utility model joint designs are more projective table type shells, save the processing of certain setting elements, convenient for inside
Part is positioned, while being easily installed, Disassembly And Inspection, and leakproofness is preferable, and can embody modular characteristic；
5) the utility model joint passes through incremental encoder and absolute value encoder respectively by the way of Dual-encoder
Come measurement motor angle and connecting rod (mechanical arm) angle, the code-disc is connected by screw on rotor axial fastenings；
6) play the role of being isolated by the thickness of adjusting washer (disk) between the stator of the absolute value encoder and rotor.
Description of the drawings
Fig. 1 be the utility model dual coding type it is hollow walk the intelligent modularized joint of wire type half section schematic；
Fig. 2 be the utility model dual coding type it is hollow walk the intelligent modularized joint of wire type 1/4 schematic cross-sectional view；
Fig. 3 be the utility model dual coding type it is hollow walk the intelligent modularized joint of wire type external structure schematic diagram；
Fig. 4 be the utility model dual coding type it is hollow walk the intelligent modularized joint of wire type shell internal structure signal
Figure；
Fig. 5 be the utility model dual coding type it is hollow walk the intelligent modularized joint of wire type internal structure solid signal
Figure；
Fig. 6 be the utility model dual coding type it is hollow walk the intelligent modularized joint stator shaft orientation fastener of wire type section view
Structural schematic diagram；
Fig. 7 be the utility model dual coding type it is hollow walk the intelligent modularized joint stator shaft orientation fastener of wire type structure
Stereoscopic schematic diagram；
Fig. 8 be the utility model dual coding type it is hollow walk the intelligent modularized joint of wire type active plate stereochemical structure
Schematic diagram；
Fig. 9 be the utility model dual coding type it is hollow walk the intelligent modularized joint of wire type active plate sectional structure
Schematic diagram；
Figure 10 be the utility model dual coding type it is hollow walk the intelligent modularized joint of wire type connecting flange three-dimensional knot
Structure schematic diagram；
Figure 11 be the utility model dual coding type it is hollow walk the intelligent modularized joint of wire type connecting flange section view knot
Structure schematic diagram；
Figure 12 be the utility model dual coding type it is hollow walk the intelligent modularized joint of wire type rotor harmonic wave axis and rotor
The dimensional structure diagram of axial fastener；
Figure 13 be the utility model dual coding type it is hollow walk the intelligent modularized joint of wire type rotor harmonic wave axis and rotor
The schematic cross-sectional view of axial fastener；
In figure：1 left end shell, 2 drivers, 3 brakes, 4 incremental encoder code-discs, 5 rotor axial direction fasteners,
6 motor stator axial fasteners, 7 motor stators, 8 rotors, 9 rotor harmonic wave axis, 10 intermediate cases, 11 No.1 angular contact axis
It holds, 12, flexbile gear, 13 firm gears, 14 right end shells, 15 output flanges, 16 absolute value encoder stators, 17 absolute value encoders turn
Son, 18 active plates, 19 incremental encoder brushes, 20 2 bugle contact bearings, 21 left end caps, 22 it is hollow walk spool, 23
Wave producer, 24 connecting flanges, 101 first connecting plates, 1,001 first annular boss, 1,002 second annular boss, 1,003 second
Annular boss array hole, 1,401 second connecting plates, 501 first shaft shoulders, 502 second shaft shoulders, the 503 third shaft shoulders, 504 the 4th axis
Shoulder, 901 first boss, 902 second boss, 903 third boss, the 1501 connecting flange shaft shoulders.
Specific implementation mode
It is further discussed below utility model with reference to embodiment and its attached drawing, but is not wanted in this, as to the application right
Ask the restriction of protection domain.
The utility model dual coding type it is hollow walk the intelligent modularized joint of wire type (abbreviation modularized joint, referring to Fig. 1-
, including left end shell 1, intermediate case 10, right end shell 14, left end cap 21, driver 2, brake 3, incremental encoder 13)
Code-disc 4, rotor harmonic wave axis 9, No.1 angular contact bearing 11, output flange 15, active plate 18, incremental encoder, No. two
Angular contact bearing 20, it is hollow walk spool 22, connecting flange 24, hollow rimless torque motor, harmonic speed reducer, absolute encoder
Device.Hollow rimless torque motor includes rotor axial direction fastener 5, motor stator axial fastener 6, motor stator 7, motor
Rotor 8, Hall sensor, harmonic speed reducer include wave producer 23, flexbile gear 12, firm gear 13, and absolute value encoder includes absolute
It is worth encoder stator 16, absolute value encoder rotor 17.
The left end cap 21, left end shell 1, intermediate case 10, right end shell 14, output flange 15 constitute a cavity,
14 3 sections of left end shell 1, intermediate case 10, right end shell shells are fastened and connected successively by screw.Left end shell 1 it is interior
Portion is provided with the first connecting plate 101, and intermediate case 10 is internally provided with the first annular boss 1001 and the second annular boss
1002, right end shell 14 is internally provided with the second connecting plate 1401, the first connecting plate 101, the first annular boss 1001, second
Annular boss 1002, the second connecting plate 1401 are set gradually from left to right, and are both provided with connecting hole thereon, on the second annular boss
Equipped with the second annular boss array hole 1003.
The left end of rotor axial direction fastener 5 is arranged in the centre of the first connecting plate 101, and passes through two bugle engagement shafts
20 are held to connect with the first connecting plate 101.Driver 2 is fixedly mounted on the left side of the first connecting plate 101, and brake 3 is arranged
It is fastenedly connected on the rotor axial direction fastener 5 on 101 right side of the first connecting plate and with the first connecting plate 101.Brake 3 is right
It is provided with incremental encoder code-disc 4 on the rotor axial direction fastener 5 of side.
18 edge of the active plate is connect by screw with 1 madial wall of left end shell；The incremental encoder packet
Incremental encoder code-disc 4 and incremental encoder brush 19 are included, incremental encoder code-disc 4 is connected to motor by jackscrew and turns
On sub- axial fastener 5, incremental encoder brush 19 is connected by bolt with active plate 18.
The both ends of rotor harmonic wave axis 9 are respectively arranged in the first annular boss 1001 and the second annular boss 1002, motor
Rotor 8 is set with the left end for being rotor harmonic wave axis 9, and the left end of rotor 8 is connect with rotor axial direction fastener 5, motor
Stator 7 is sleeved on the periphery of rotor 8, and motor stator axial fastener 6 is mounted on the left side of the first annular boss 1001
Above and by the left end of motor stator 7 it is fixed in the first annular boss 1001.It is cyclic annular convex that the right end of motor stator 7 is set to second
In second annular boss array hole 1003 of platform 1002.Hall sensor is installed on motor stator 7.Second annular boss 1002
It is provided with No.1 angular contact bearing 11 in gap between rotor harmonic wave axis 9.9 right end of rotor harmonic wave axis is set with wave
The periphery of device 23, wave producer 23 is provided with three bugle contact bearings, is provided on the right side of the second annular boss 1002 soft
Firm gear 13 is arranged in the right side of wheel 12, flexbile gear 12, and flexbile gear 12 and the inside of firm gear 13 are sleeved on three bugle contact bearings, firm gear
13 right end is connect with the left side of connecting flange 24.The middle part of connecting flange 24 is arranged inside the second connecting plate 1401, absolutely
Value encoder stator 16, absolute value encoder rotor 17 are provided in the right side of the second connecting plate 1401.The right side of connecting flange 24
Side is connect with output flange 15.Rotor axial direction fastener 5, rotor harmonic wave axis 9,24 inside of connecting flange are hollow structure,
It is hollow walk spool 22 be disposed therein in hollow structure.Driver 2 is used for the action of the hollow rimless torque motor of drive control, realizes
Control to modularized joint.
The rotor axial direction fastener 5 includes the level Four shaft shoulder, is from left to right followed successively by first shaft shoulder 501, the second axis
Shoulder 502, the third shaft shoulder 503, the 4th shaft shoulder 504；The rotor harmonic wave axis 9 is equipped with boss, is from left to right followed successively by first boss
901, second boss 902 and third boss 903；First shaft shoulder 501 of the rotor axial direction fastener 5 connects equipped with two bugles
Contact bearing 20 positions it by first shaft shoulder 501 and the first connecting plate 101.
The driver 2 is mounted on the first connecting plate 101, the cable drawn in the upper joint being connect with this joint
It is connect with the driver in this joint by the cable hole on left end cap.
Hollow rimless torque motor passes through motor stator axial fastener 6, rotor axial direction fastener 5 and the second ring
Shape boss 1002 is fixed；The hollow rimless torque motor includes motor stator 7, rotor 8 and Hall sensor, the electricity
Machine rotor 8 is located at the inside of motor stator 7, and the Hall sensor is installed on motor stator 7, and the motor stator 7 is stuck in
Between motor stator axial fastener 6 and the second annular boss 1002, the motor stator axial fastener 6 by screw with
First annular boss 1001 connects；The rotor 8 is stuck in the 4th shaft shoulder 504 and rotor of rotor axial direction fastener 5
Between the first boss 901 of harmonic wave axis 9.
The rotor harmonic wave axis 9 is connected by the boss of right end and the wave producer 23 of harmonic speed reducer, to harmonic reduction
Device carries out axially position, while the wave producer 23 of harmonic speed reducer carries out axially position by the second annular boss 1002；It is humorous
The flexbile gear 12 of wave retarder is connected by screw with the second annular boss 1002 on shell, and forms axially position, harmonic wave
The firm gear 13 of retarder is connect with connecting flange 24, and connecting flange 24 connects output flange 15, and output flange 15 connects next pass
Section；Three bugle contact bearings, three bugle engagement shafts are installed between the firm gear 13 and hollow rimless torque motor of harmonic speed reducer
The inside and outside circle held is positioned by the second boss 902 of rotor harmonic wave axis and the second annular boss 1002 respectively.
Absolute value encoder includes absolute value encoder stator 16, absolute value encoder rotor 17, and absolute value encoder is set
It sets on the shaft shoulder 1501 of connecting flange, passes through spacer between absolute value encoder stator 16, absolute value encoder rotor 17
The thickness of circle plays the role of isolation.
The modularized joint is multiple to be fitted together, and is drawn in the next modularized joint being connect with this modularized joint
The signal wire that goes out passes through the centre bore of end output flange 15 with power cord, by it is hollow walk spool 22 be connected to 2 phase of driver
It answers on interface；The SSI signal wires of absolute value encoder are fixed along enclosure, from the second connecting plate 1401 of outer casing inner wall
For cable hole using the cable hole on the second annular boss 1002, the inner wall along shell passes through the first annular boss 1001 and first
Cable hole on connecting plate 101 is connected on the corresponding interface of driver 2；The connecting line of motor stator 7 is believed with Hall sensor
Number line is fixed along shell, by the cable hole on the first annular boss 1001 of outer casing inner wall using on the first connecting plate 101
Cable hole be connected on the corresponding interface of driver 2.
The left end cap 21 realizes that axially position is connect with the annular boss that left end shell 1 is equipped with by left end cap 21,
The brake 3 is mounted on by bolt on the first connecting plate 101, and the leftmost side of rotor axial fastenings is reduced by this way
The space of brake apparatus；The Hall sensor is mounted on the middle-end of motor stator, improves the rate of commutation, improves electricity
The accuracy of feedback is flowed, the rotor harmonic wave axis and rotor axial direction fastenings are connected by screw, harmonic speed reducer
Flexbile gear 12 be connected through a screw thread with the second annular boss 1002 carry out axial and circumferential positioning, second connecting plate 1401 with
The wave producer 23 of harmonic speed reducer is connected by screw to form axially position, and the modularized joint structure design is compact, hollow
Cabling reduces the complexity that cable summarizes, and avoids the influence due to joint motions and to cable, has very high flexibility, mould
Blockization designs assembling that can be more convenient.
16 the second annular boss array holes 1003 are distributed on second annular boss described in the utility model joint, in conjunction with
Motor stator axially fastens part 6 and plays the role of axially position to motor, while also playing positioning to harmonic speed reducer and making
With the second annular boss array hole 1003 can save space while playing the role of positioning, and the fixed harmonic wave of installation is facilitated to subtract
The flexbile gear of fast device.
The operation principle in the utility model joint is：External master controller is connected to by cable hole on driver, in turn
Driver work is controlled, and driver connects hollow rimless torque motor, and then control hollow rimless torque motor action.It is humorous
Wave retarder is mainly used for the deceleration of motor, and harmonic speed reducer connects connecting flange, and connecting flange connects output flange, exports method
Orchid connects next joint by connecting element.Incremental encoder is mainly used for speed closed loop feedback, by hollow rimless torque motor
Speed parameter feed back to driver, thus can show and be operated from computer.Absolute value encoder is mainly used for
Position closed loop is fed back, and the output position of output flange is fed back to driver, thus can show and be grasped from computer
Make.
Specific work process is as follows：Instruction is assigned by external master controller, is received and is instructed using driver, by 48V
DC power supply power, driver by the cable hole on shell using three U V W lines be connected on hollow rimless torque motor,
It powers to hollow rimless torque motor and controls hollow rimless torque motor and work；Hollow rimless torque motor passes through rotor
Harmonic wave axis 9 connects harmonic speed reducer, and harmonic speed reducer can play the role of high reduction ratio and slow down and increase output torque, harmonic wave
Retarder connects connecting flange, and connecting flange connects output flange, and output flange connects next joint.
Incremental encoder is powered by driver, and the speed closed loop for servo-control system is fed back, can will be hollow
The real-time speed parameter feedback of rimless torque motor uploads speed data to driver, driver 2, to hollow rimless torque electricity
Machine motion conditions are judged, and are made a policy, and with PID control principle, are carried out to hollow rimless torque motor motion conditions
Real-time control.
Position closed loop of the absolute value encoder for servo-control system is fed back, by the output of load end, that is, output flange 15
Angular position feedback uploads position data to driver, driver, judges the situation of load end, and make certainly
Plan, to improve positional precision.
Utilize the electricity of the relative position relation and hollow rimless torque motor of absolute value encoder and incremental encoder
Situation of change is flowed, the stress of load end can be carried out timely to perceive and feed back, torque can be replaced to pass to a certain extent
The effect of sensor realizes the perception of load end power so that load end can carry out force-location mix control during exercise.Double volumes
Code type it is hollow walk the intelligent modularized joint of wire type be control integral joint, in this joint simultaneously equipped with driving device with control
Device, wherein driving device include mainly hollow rimless torque motor, and control device is driver.
The utility model does not address place and is suitable for the prior art.
Claims (7)
1. a kind of dual coding type it is hollow walk the intelligent modularized joint of wire type, which is characterized in that including left end shell, intermediate outer
Shell, right end shell, left end cap, driver, brake, incremental encoder code-disc, rotor harmonic wave axis, No.1 angular contact bearing,
Output flange, active plate, incremental encoder, two bugle contact bearings, it is hollow walk spool, connecting flange, hollow rimless
Torque motor, harmonic speed reducer, absolute value encoder；Hollow rimless torque motor includes rotor axial direction fastener, motor
Stator shaft orientation fastener, motor stator, rotor, Hall sensor, harmonic speed reducer include wave producer, flexbile gear, firm gear,
Absolute value encoder includes absolute value encoder stator, absolute value encoder rotor；
The left end cap, left end shell, intermediate case, right end shell, output flange constitute a cavity, left end shell, centre
Three sections of shell, right end shell shells are fastened and connected successively by screw；Left end shell is internally provided with the first connecting plate,
Intermediate case is internally provided with the first annular boss and the second annular boss, and right end shell is internally provided with the second connection
Plate, the first connecting plate, the first annular boss, the second annular boss, the second connecting plate are set gradually from left to right, are respectively provided with thereon
There are connecting hole, the second annular boss to be equipped with the second annular boss array hole；
The left end of rotor axial direction fastener is arranged in the centre of the first connecting plate, and passes through two bugle contact bearings and first
Connecting plate connects；Driver is fixedly mounted on the left side of the first connecting plate, and brake is arranged on the right side of the first connecting plate
It is fastenedly connected on rotor axial direction fastener and with the first connecting plate；It is set on rotor axial direction fastener on the right side of brake
It is equipped with incremental encoder code-disc；
The active plate edge is connect by screw with left end housing interior side-wall；The incremental encoder includes increment type
Encoder code disc and incremental encoder brush, incremental encoder code-disc are connected to rotor axial direction fastener by jackscrew
On, incremental encoder brush is connected by bolt with active plate；
The both ends of rotor harmonic wave axis are respectively arranged in the first annular boss and the second annular boss, and rotor suit is to turn
The left end of the left end of sub- harmonic wave axis, rotor is connect with rotor axial direction fastener, and motor stator is sleeved on rotor
Periphery, motor stator axial fastener is mounted on the left side of the first annular boss and is fixed on the left end of motor stator
In first annular boss；The right end of motor stator is set in the second annular boss array hole of the second annular boss；Hall passes
Sensor is installed on motor stator；No.1 angular contact axis is provided in gap between second annular boss and rotor harmonic wave axis
It holds；The right end of rotor harmonic wave axis is set with wave producer, and the periphery of wave producer is provided with three bugle contact bearings, and second is cyclic annular
It is provided with flexbile gear on the right side of boss, the right side of flexbile gear is arranged firm gear, and the inside of flexbile gear and firm gear is sleeved on three bugles and connects
On contact bearing, the right end of firm gear and the left side of connecting flange connect；The middle part of connecting flange is arranged inside the second connecting plate, absolutely
The right side of the second connecting plate is provided in value encoder stator, absolute value encoder rotor；The right side of connecting flange and output
Flanged joint；Rotor axial direction fastener, rotor harmonic wave axis are hollow structure inside connecting flange, it is hollow walk spool setting
In in its hollow structure；Driver is used for the action of the hollow rimless torque motor of drive control, realizes the control to modularized joint
System.
2. a kind of dual coding type according to claim 1 it is hollow walk the intelligent modularized joint of wire type, which is characterized in that institute
It includes the level Four shaft shoulder to state rotor axial direction fastener, is from left to right followed successively by first shaft shoulder, second shaft shoulder, the third shaft shoulder,
Four shaft shoulders；The rotor harmonic wave axis is equipped with boss, is from left to right followed successively by first boss, second boss and third boss；It is described
First shaft shoulder of rotor axial direction fastener is equipped with two bugle contact bearings, by first shaft shoulder and the first connecting plate to it
It is positioned；
The motor stator is stuck between motor stator axial fastener and the second annular boss, and the motor stator is axially tight
Firmware is connect by screw with the first annular boss；The rotor be stuck in the 4th shaft shoulder of rotor axial direction fastener with
Between the first boss of rotor harmonic wave axis；
The rotor harmonic wave axis is connected by the boss of right end and the wave producer of harmonic speed reducer, and axis is carried out to harmonic speed reducer
To positioning, while the wave producer of harmonic speed reducer carries out axially position by the second annular boss；The flexbile gear of harmonic speed reducer
It is connected by screw with the second annular boss on shell, and forms axially position, the firm gear and connection method of harmonic speed reducer
Orchid connection, connecting flange connect output flange, and output flange connects next joint；Harmonic speed reducer firm gear with it is hollow rimless
Angular contact bearing is installed between torque motor, the inside and outside circle of angular contact bearing respectively by the second boss of rotor harmonic wave axis and
Second annular boss is positioned.
3. a kind of dual coding type according to claim 1 it is hollow walk the intelligent modularized joint of wire type, which is characterized in that absolutely
Include absolute value encoder stator, absolute value encoder rotor to value encoder, absolute value encoder is arranged in connecting flange
On the shaft shoulder, isolation is played the role of by the thickness of adjusting washer (disk) between absolute value encoder stator, absolute value encoder rotor.
4. a kind of dual coding type according to claim 1 it is hollow walk the intelligent modularized joint of wire type, which is characterized in that institute
State the signal wire that modularized joint is multiple to be fitted together, and is drawn in the next modularized joint being connect with this modularized joint
With power cord pass through end output flange centre bore, by it is hollow walk spool be connected on driver the corresponding interface；Absolute value
The SSI signal wires of encoder are fixed along enclosure, from the cable hole on the second connecting plate of outer casing inner wall using the second ring
Cable hole on shape boss, the inner wall along shell are connected to driving by the cable hole on the first annular boss and the first connecting plate
On the corresponding interface of device；The connecting line of motor stator is fixed with Hall sensor signal wire along shell, by the of outer casing inner wall
Cable hole on one annular boss is connected to using the cable hole on the first connecting plate on the corresponding interface of driver.
5. a kind of dual coding type according to claim 1 it is hollow walk the intelligent modularized joint of wire type, which is characterized in that institute
It states left end cap and realizes that axially position is connect with the annular boss that left end shell is equipped with by left end cap.
6. a kind of dual coding type according to claim 1 it is hollow walk the intelligent modularized joint of wire type, which is characterized in that institute
State the middle-end that Hall sensor is mounted on motor stator.
7. a kind of dual coding type according to claim 1 it is hollow walk the intelligent modularized joint of wire type, which is characterized in that institute
It states and 16 the second annular boss array holes is distributed on the second annular boss.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820265428.2U CN207953918U (en) | 2018-02-24 | 2018-02-24 | A kind of dual coding type it is hollow walk the intelligent modularized joint of wire type |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820265428.2U CN207953918U (en) | 2018-02-24 | 2018-02-24 | A kind of dual coding type it is hollow walk the intelligent modularized joint of wire type |
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| Publication Number | Publication Date |
|---|---|
| CN207953918U true CN207953918U (en) | 2018-10-12 |
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| CN201820265428.2U Active CN207953918U (en) | 2018-02-24 | 2018-02-24 | A kind of dual coding type it is hollow walk the intelligent modularized joint of wire type |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109269532A (en) * | 2018-10-18 | 2019-01-25 | 北京化工大学 | Integrated incremental encoder conducting slip ring |
| CN109538735A (en) * | 2019-01-14 | 2019-03-29 | 杨庆华 | Electromechanical harmonic speed reducer |
| CN109551480A (en) * | 2018-12-20 | 2019-04-02 | 广东工业大学 | A kind of variation rigidity controls integrated robot revolute joint module |
| CN109707826A (en) * | 2019-01-14 | 2019-05-03 | 杨庆华 | Electromechanical harmonic speed reducer |
| CN109927071A (en) * | 2019-03-18 | 2019-06-25 | 广东工业大学 | A kind of main robot single-degree-of-freedom revolute joint |
| CN110561491A (en) * | 2019-08-09 | 2019-12-13 | 哈尔滨工业大学（深圳） | Wrist joint of mechanical arm |
| CN111230922A (en) * | 2020-02-28 | 2020-06-05 | 洛阳尚奇机器人科技有限公司 | Modular robot joint integrating driving function and detection function |
| CN112659176A (en) * | 2020-12-18 | 2021-04-16 | 江苏集萃智能制造技术研究所有限公司 | Non-biased cooperative robot integrated joint |
| CN113977625A (en) * | 2021-11-16 | 2022-01-28 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Electric joint module integrating double speed reducers |
| CN114623355A (en) * | 2020-12-10 | 2022-06-14 | 中国科学院沈阳自动化研究所 | Lifting system with rotation pitching function |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109269532A (en) * | 2018-10-18 | 2019-01-25 | 北京化工大学 | Integrated incremental encoder conducting slip ring |
| CN109551480A (en) * | 2018-12-20 | 2019-04-02 | 广东工业大学 | A kind of variation rigidity controls integrated robot revolute joint module |
| CN109538735A (en) * | 2019-01-14 | 2019-03-29 | 杨庆华 | Electromechanical harmonic speed reducer |
| CN109707826A (en) * | 2019-01-14 | 2019-05-03 | 杨庆华 | Electromechanical harmonic speed reducer |
| CN109927071A (en) * | 2019-03-18 | 2019-06-25 | 广东工业大学 | A kind of main robot single-degree-of-freedom revolute joint |
| CN110561491A (en) * | 2019-08-09 | 2019-12-13 | 哈尔滨工业大学（深圳） | Wrist joint of mechanical arm |
| CN111230922A (en) * | 2020-02-28 | 2020-06-05 | 洛阳尚奇机器人科技有限公司 | Modular robot joint integrating driving function and detection function |
| CN114623355A (en) * | 2020-12-10 | 2022-06-14 | 中国科学院沈阳自动化研究所 | Lifting system with rotation pitching function |
| CN112659176A (en) * | 2020-12-18 | 2021-04-16 | 江苏集萃智能制造技术研究所有限公司 | Non-biased cooperative robot integrated joint |
| CN112659176B (en) * | 2020-12-18 | 2023-09-22 | 江苏集萃智能制造技术研究所有限公司 | Non-offset cooperative robot integrated joint |
| CN113977625A (en) * | 2021-11-16 | 2022-01-28 | 上海微电机研究所(中国电子科技集团公司第二十一研究所) | Electric joint module integrating double speed reducers |
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